Leader-following consensus of second-order nonlinear multi-agent systems with unmodeled dynamics

Wencheng Zou, Choon Ki Ahn, Zhengrong Xiang

Research output: Contribution to journalArticlepeer-review

16 Citations (Scopus)


In this paper, the leader-following consensus is investigated for a class of second-order nonlinear multi-agent systems with unmodeled dynamics. A new distributed protocol, which contains a designed signal to dominate the effects of unmodeled dynamics, is presented to solve the consensus problem for multi-agent systems. The protocol is designed without using the information of Laplacian matrix and the Lipschitz constants. It is proven that the practical leader-following consensus can be achieved by the proposed protocol under both undirected and directed topologies. Then, we propose a nonsmooth protocol by which the complete leader-following consensus for the nonlinear multi-agent systems can be achieved. Finally, two demonstrative examples are given to illustrate the effectiveness of the designed protocols.

Original languageEnglish
Pages (from-to)120-129
Number of pages10
Publication statusPublished - 2018 Dec 17

Bibliographical note

Funding Information:
This work was supported by the National Natural Science Foundation of China (Nos. 61773211,61673219).

Publisher Copyright:
© 2018 Elsevier B.V.


  • Leader-following consensus
  • Multi-agent systems
  • Second-order nonlinear systems
  • Unmodeled dynamics

ASJC Scopus subject areas

  • Computer Science Applications
  • Cognitive Neuroscience
  • Artificial Intelligence


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